1. Introduction and main results
The stability of bound states of nonlinear Schrödinger equations in the attractive case has been studied since 1983. In particular, the ground state was described by minimizing the corresponding energy functionals in several manifolds with constrained conditions. In this paper, we study the bound states for the following Kirchhoff type equation
where $b,\, \omega >0$ are constants, $p\in (2,\,+\infty )$. It is known that every solution to Eq. (1.1) is a critical point of the energy functional $S: H^1(\mathbb {R}^2)\rightarrow \mathbb {R}$, given by
Equation (1.1) is related to the stationary form of the classical Kirchhoff equation
where $\Omega \subset \mathbb {R}^N$ ($N\geq 1$) and $h\in C(\Omega \times \mathbb {R},\,\mathbb {R})$. Problem (1.2) was proposed by Kirchhoff [Reference Kirchhoff17] as an extensional the classical D'Alember's wave equation for free vibrations of elastic strings which corresponds to the case $b=0$ in (1.2). As we know, Kirchhoff's model takes into account modifications in length of the string produced by transversal vibrations. After the pioneering work of Lions [Reference Lions22], where an abstract framework was introduced, the stationary elliptic version of problem (1.2) has been widely studied in the literature, for example, we refer to the papers [Reference Autuori, Fiscella and Pucci1, Reference Chen, Kuo and Wu5, Reference Deng, Peng and Shuai7, Reference Huang, Liu and Wu13–Reference Jünior and Siciliano15, Reference Li, Li and Shi21, Reference Liu, Hou and Liao23–Reference Perera and Zhang25, Reference Wang, Xie and Zhang28].
The existence and qualitative properties of positive solutions for the following Kirchhoff-type equation
have been extensively in the past several decades where $f\in C(\mathbb {R}^N\times \mathbb {R},\,\mathbb {R})$, $a,\,b>0$ are constants. It is well known that Eq. (1.3) is the Euler–Lagrange equation of the energy functional $I: H^1(\mathbb {R}^N)\rightarrow \mathbb {R}$ defined as
where $F(x,\,u)=\int _0^uf(x,\,s)\,{\rm d}s$. Define
A nontrivial solution $u$ to problem (1.3) is called a ground state if $I(u)=m$.
For $N=2$ or 3, by using the fountain theorem, Jin and Wu [Reference Jin and Wu16] proved that problem (1.3) has infinitely many radial solutions when $f$ satisfies some suitable assumptions. Later, on $\mathbb {R}^3$, He and Zou [Reference He and Zou11] studied (1.3) under the conditions that $f(x,\,u):=f(u)$ satisfies $\lim _{|u|\rightarrow 0}f(u)/|u|^3=0$, $\lim _{|u|\rightarrow \infty }f(u)/|u|^q=0$ for some $3< q<5$, $f(t)/t^3$ is strictly increasing for $t>0$ and
The authors obtained existence and concentration behavior of positive solutions and ground state solutions to (1.3) via using the mountain pass theorem and the Nehari manifold, respectively. When $f(x,\,u):=\lambda f(u)+|u|^4u$, where $f(u)$ satisfies some appropriate assumptions, Wang et al. [Reference Wang, Tian, Xu and Zhang27], He et al. [Reference He, Li and Peng12], Li and Ye [Reference Li and Ye20] used the same arguments as in [Reference He and Zou11] to prove the existence of ground state solutions and concentration behavior of positive solutions. There are also some studies on ground state solutions and concentration behavior of positive solutions results, we refer to [Reference Figueiredo, Ikoma and Júnior8, Reference Figueiredo and Jünior9, Reference Ikoma14].
Recently, Li et al. [Reference Li, Luo, Peng, Wang and Xiang19] considered the existence of positive ground state solutions of (1.3) when $f(x,\,u):=u^p$ with $1< p<5$ on $\mathbb {R}^3$. Furthermore, they exploited the smoothness, symmetry and asymptotic behavior of positive solutions. Qi and Zou [Reference Qi and Zou26] studied the exact number and expressions of the positive solutions for problem (1.1) with the prescribed $L^2$-norm and the unknown frequency. Wei et al. [Reference Wei, Tang and Zhang29] established the existence of ground state solution for problem (1.1) with critical exponential and periodic nonlinearity, see also [Reference Chen and Yu6] for some existence results for a Kirchhoff-type problem in $\mathbb {R}^2$ with critical exponential.
Inspired by the above work, we are interested in necessary and sufficient conditions for ground state solutions for Kirchhoff-type problems in the whole space $\mathbb {R}^2$, which have not been investigated in the literature until now. However, the main difficulty faced is that we have to consider the nonlocal term $b\int _{\mathbb {R}^2}|\nabla u|^2\,{\rm d}x$ in the whole space. For this, we introduce a new scale technique to deal with this problem.
Before stating our main results, we introduce the following functionals and sets, respectively.
Now our main results are listed as follows.
Theorem 1.1 Assume $b,\,\omega >0$ and $p>2$. Then
(i) $A$ and $G$ are nonempty.
(ii) $u\in G$ if and only if $u$ solves the minimization problem
(1.7)\begin{equation} \begin{cases} u\in N \ \text{and} \ \int_{\mathbb{R}^2}|u|^2\,{\rm d}x=\frac{2(4bd_N+1)-2\sqrt{4bd_N+1}}{\omega b(p-2)},\\ S(u)=d_N:=\min\{S(w): w\in N\}. \end{cases} \end{equation}(iii) There exists a real-valued, positive, spherically symmetric, and decreasing function $\varphi \in G$ such that
\[ G=\bigcup\{\varphi({\cdot}{-}y): y\in\mathbb{R}^2\}. \]
Theorem 1.2 Assume $b,\,\omega >0$ and $p>6$. If $u\in H^1(\mathbb {R}^2)$, then $u\in G$ if and only if $u$ solves the minimization problem
Remark 1.3 Note that our results are new even in the available literature concerning the case of $\mathbb {R}^N$ ($N\geq 3$). As a matter of fact, our scale technique seems difficult to be employed in $\mathbb {R}^N$ ($N\geq 3$). Of course, it would be interesting to extend our results to $\mathbb {R}^N$ ($N\geq 3$). In addition, our results could not be deduced if the nonlinearity $|u|^{p-2}u$ is replaced by the one with subcritical or critical exponential growth.
The paper is organized as follows. In § 2, we establish a regularity result and give the proof of theorem 1.1. In § 3, we deal with the proof of theorem 1.2.
2. Proof of theorem 1.1
If $u$ is a solution of problem (1.1), then
Now, $u$ is also the critical point of $S(u)$ in $H^1(\mathbb {R}^2)$. So we have the Pohozaev's identity $\frac {d}{d\lambda }|_{\lambda =1}S(u(\lambda ^{-1}x))=0$. This implies $V(u)=0$, that is,
and hence
Consequently
which leads to
Lemma 2.1 Assume $2< p<\infty$, $\omega >0$. If $u$ is a solution of (1.1). Then the following properties hold:
(i) $u\in W^{3,q}(\mathbb {R}^2)$ for every $2\leq q<+\infty$. In particular, $u\in C^2(\mathbb {R}^2)$ and $|D^\beta u(x)|\rightarrow 0$ as $|x|\rightarrow \infty$ for all $|\beta |\leq 2$.
(ii) There exists $\varepsilon >0$ such that $e^{\varepsilon |x|}(|u(x)|+|\nabla u(x)|)\in L^\infty (\mathbb {R}^2)$.
Proof. $(i)$ We borrow the idea from [Reference Cazenave4]. Let $u$ be a solution of problem (1.1). Thus,
Let $A=1+b\int _{\mathbb {R}^2}|\nabla u|^2\,{\rm d}x$ ($A<\infty$), $B=\frac {1+b\int _{\mathbb {R}^2}|\nabla u|^2\,{\rm d}x}{\omega ^2}$. Changing $u(x)$ to
we may assume that $v$ satisfies
Note that (2.3) can be written in the form
where $\mathcal {F}$ is the Fourier transform. For $K>0$, set
Observing that, for $\beta \geq 1$,
we get
Taking the test function $\varphi =|v_K|^{2\beta -2}v$ in (2.3), we have
It follows from (2.5) and (2.6) that
On one hand, by the Sobolev inequality, we have
where
On the other hand, by the Hölder inequality, we deduce that
The symbol $\|\cdot \|$ is used only for the norm in $H^1(\mathbb {R}^2)$. Applying (2.7) and letting $K\rightarrow \infty$, we obtain
where $|\cdot |_{L^q}$ denotes the standard norm in $L^q(\mathbb {R}^2)$. It follows from the above inequality that
Set
so that
Consequently, $\beta _n\rightarrow \infty$ as $n\rightarrow \infty$. Therefore,
Doing iteration by (2.8), we obtain $v\in L^\infty (\mathbb {R}^2)$. Thus $|v|^{p-2}v\in L^2(\mathbb {R}^2)\cap L^\infty (\mathbb {R}^2)$, so that $v\in W^{2,q}(\mathbb {R}^2)$ and $|v|^{p-2}v\in W^{1,q}(\mathbb {R}^2)$ for all $2\leq q<\infty$. Therefore, it follows from (2.4) that $(-\Delta +I)\partial _jv\in L^q(\mathbb {R}^2)$, i.e., $\mathcal {F}^{-1}((1+4\pi ^2|\xi |^2)\mathcal {F}\partial _jv)\in L^q(\mathbb {R}^2)$. Thus $\partial _jv\in H^{2,q}(\mathbb {R}^2)=W^{2,q}(\mathbb {R}^2)$, and so $v\in W^{3,q}(\mathbb {R}^2)$. By the Sobolev's embedding theorem, $v\in C^{2,\delta }(\mathbb {R}^2)$ for $0<\delta <1$. Therefore, $|D^\beta v(x)|\rightarrow 0$ as $|x|\rightarrow \infty$ for all $|\beta |\leq 2$, so that $|D^\beta u(x)|\rightarrow 0$ as $|x|\rightarrow \infty$.
$(ii)$ Let $\varepsilon >0$ and $\theta _\varepsilon (x)=e^{\frac {|x|}{1+\varepsilon |x|}}$. $\theta _\varepsilon$ is bounded, Lipschitz continuous, and $|\nabla \theta _\varepsilon |\leq \theta _\varepsilon$ a.e. Taking the test function $\theta _\varepsilon v\in H^1(\mathbb {R}^2)$ in (2.3), we get
Noting that
we obtain
Since $u\in H^1(\mathbb {R}^2)$, there exists $R>0$ such that $|v(x)|^{p-2}\leq \frac {1+b\int _{\mathbb {R}^2}|\nabla u|^2\,{\rm d}x}{4\omega ^2}$ for $|x|\geq R$. Thus
It follows from (2.10) that
Letting $\varepsilon \downarrow 0$, we deduce that
Since $v$ is globally Lipschitz continuous by $(i)$, $|v(x)|^{4}e^{|x|}$ is bounded. Similarly, applying $\partial _j$ to equation (2.3) and multiplying the resulting equation by $\theta _\varepsilon \partial _j u$ for $j=1,\,2$, we have
Applying the fact
we have
Consequently
By $(i)$, there exists $R>0$ such that $|\partial _jv(x)|^{p-2}\leq \frac {1+b\int _{\mathbb {R}^2}|\nabla u|^2\,{\rm d}x}{4\omega ^2}$ for $|x|\geq R$. Thus
It follows from (2.12) that
Letting $\varepsilon \downarrow 0$, we deduce that
Since $\nabla v$ is globally Lipschitz continuous, similarly, we deduce that $|\nabla v(x)|^{4}e^{|x|}$ is bounded. The proof is now finished.
Lemma 2.2 Assume that $2< p<\infty$ and $b,\,\omega >0$. It follows that the minimization problem
has a positive solution, where $N$ is defined in (1.5). Moreover, every solution of (2.13) is the solution of equation (1.1).
Proof. A similar argument to the proof of Theorem 8.1.5 in [Reference Cazenave4], we observe that $d_N>0$. Indeed, consider $u\in N$, it implies that $V(u)=0$, namely
It follows from the Gagliardo–Nirenberg inequality that there exists $C$ independent of $u$ such that
From the above information, there exists $c>0$ such that $\int _{\mathbb {R}^2}|\nabla u|^2\,{\rm d}x\geq c$, and so
for all $u\in N$, which implies that $d_N>0$.
We recall the definition of the Schwarz symmetrization [Reference Berestycki and Lions3]. If $u\in L^2(\mathbb {R}^2)$ is a nonnegative function, we denote by $u^*$ the unique spherically symmetric, nonnegative, non-increasing function such that
In particular,
The proof of lemma 2.2 is divided into three steps.
Step 1. we claim that the minimization problem (2.13) has a solution.
Similar to the proof of [Reference Berestycki, Gallouët and Kavian2], it is clear that $N\neq \emptyset$. Let $\{v_n\}\subset N$ be a minimizing sequence of $S$, that is, $V(v_n)=0$, and $S(v_n)\rightarrow d_N$. Let $w_n=|v_n|^*$. It follows from (2.14) that $V(w_n)=V(v_n)$, and hence $\{w_n\}$ is also a minimizing sequence of $S$. Define now $u_n$ by $u_n(x)=w_n(\lambda ^{1/2}_nx)$, where
where
We deduce that
and
These results imply
We obtain that $\{u_n\}$ is also a minimizing sequence of $S$. It follows from (2.15) that $\{u_n\}$ is bounded in $H^1(\mathbb {R}^2)$. Therefore, there exist a subsequence of $u_n$ (denoted by itself) and $u\in H^1(\mathbb {R}^2)$ such that $u_n\rightharpoonup u$ weakly in $H^1(\mathbb {R}^2)$ and $u_n\rightarrow u$ strongly in $L^{p}(\mathbb {R}^2)$. By the Fatou's lemma,
By the weak lower semicontinuity of the $L^2$ norm,
Therefore,
We claim that $V(u)=0$. Indeed, if $V(u)>0$, then $u\neq 0$. So there exists $\lambda \in (0,\,1)$ such that $v=\lambda u$ satisfies $V(v)=0$. Thus $v\in N$. Furthermore,
Noting that $d_N=\lim _{n\to \infty }S(u_n)$ and $V(u_n)=0$, then we have
From the above information, we get
This implies that $S(v)< d_N$. This contradicts (2.13) since $S(v)\geq d_N$. Therefore, $V(u)=0$. This implies that
Consequently,
and so $u$ satisfies (2.13).
Step 2. We claim that every solutions of (2.13) belongs to $A$.
Indeed, consider a solution $u$ of (2.13). There exists a Lagrange multiplier $\lambda$ such that
For any $\varphi \in H^1(\mathbb {R}^2)$, it follows from (2.16) that
Taking the test function $\varphi =u$, we obtain
Noting that
we deduce that
so that
It follows from $V(u)=0$ and $\int _{\mathbb {R}^2}|u|^2\,{\rm d}x=\gamma$ that
Together with (2.17), there holds
and so $\lambda =1$. Therefore, $u$ satisfies problem (1.1). So $A\neq \emptyset$.
Step 3. We claim that $u$ satisfies problem (2.13) if and only if $u\in G$.
Consider any solution $u$ of (2.13) and any $v\in A$. That is,
By Pohozaev's identity, we get $V(v)=0$. This means $v\in N$, and
From (2.2), there holds
Since $v\in N$, by the definition of $d_N$, we have
which implies that $u\in G\neq \emptyset$.
Assume further that $v\in G$. Since $u\in G$ also, we have $S(u)=S(v)$. Noting that $S(u)=d_N$ and $\int _{\mathbb {R}^2}|u|^2\,{\rm d}x=\gamma =\frac {2(4bd_N+1)-2\sqrt {4bd_N+1}}{\omega b(p-2)}$, we obtain
Applying (2.18), we have
which implies that $\gamma =\int _{\mathbb {R}^2}|v|^2\,{\rm d}x,$ which means that $v$ satisfies (2.13). Hence, the proof is complete.
Proof. Proof of theorem 1.1
Consider $u\in G$, it follows that
and so
where
According to lemma 2.1, $u\in C^2(\mathbb {R}^2)$ and $a(x)\rightarrow 0$ as $|x|\rightarrow \infty$. Applying Theorem 2 in [Reference Gidas, Ni and Nirenberg10], we obtain that there exists a positive, spherically symmetric solution $\varphi$ of Eq. (2.19) and $y\in \mathbb {R}^2$ such that $u(\cdot )=\varphi (\cdot -y)$. Note that $\varphi$, being radially symmetric, satisfies the ordinary differential equation
Since $\int _0^\infty 4\pi r^2u_r^2dr$ is independent of choice of $u$, we deduce that $1+b\int _0^\infty 4\pi r^2u_r^2dr$ is a positive constant. As a result, we obtain that $\varphi$ is unique by applying the uniqueness results in [Reference Kwong18] and [Reference Li, Luo, Peng, Wang and Xiang19]. The proof is now complete.
3. Proof of theorem 1.2
For the proof of theorem 1.2, we will use the following lemma.
Lemma 3.1 Given $u\in H^1(\mathbb {R}^2),\, u\neq 0$, and $\lambda >0$, set $\mathcal {P}(\lambda,\,u)(x)=\lambda u(\lambda x)$. Then following properties hold:
(i) There exists a unique $\lambda ^*(u)>0$ such that $\mathcal {P}(\lambda ^*(u),\,u)\in M$.
(ii) The function $\lambda \mapsto S(\mathcal {P}(\lambda,\,u))$ is convex on $(\lambda ^*(u),\,+\infty )$.
(iii) $\lambda ^*(u)<1$ if and only if $Q(u)<0$.
(iv) $\lambda ^*(u)=1$ if and only if $u\in M$.
(v) $S(\mathcal {P}(\lambda,\,u))< S(\mathcal {P}(\lambda ^*(u),\,u))$ for each $\lambda >0$, $\lambda \neq \lambda ^*(u)$.
(vi) $\frac {d}{d\lambda }S(\mathcal {P}(\lambda,\,u))=\frac {1}{\lambda }Q(\mathcal {P}(\lambda,\,u))$ for each $\lambda >0$.
(vii) $|\mathcal {P}(\lambda,\,u)|^*=\mathcal {P}(\lambda,\,|u|^*)$ for each $\lambda >0$, where $*$ is the Schwarz symmetrization.
(viii) If $u_m\rightharpoonup u$ in $H^1(\mathbb {R}^2)$ weakly and in $L^{p}(\mathbb {R}^2)$ strongly, then $\mathcal {P}(\lambda,\,u_m)\rightarrow \mathcal {P}(\lambda,\,u)$ in $H^1(\mathbb {R}^2)$ weakly and in $L^{p}(\mathbb {R}^2)$ strongly for each $\lambda >0$.
Proof. Let $u\in H^1(\mathbb {R}^2)$, $u\neq 0$, and let $u_\lambda =\mathcal {P}(\lambda,\,u)$. We have
Then
so that
Consequently, property (vi) holds. It follows from $f'(\lambda )=0$ that
Thus
which implies that (3.1) has a unique positive solution $\lambda ^*(u)$ (by Rello's theorem). In particular, $f$ achieves its maximum at $\lambda ^*(u)$. Therefore, properties (i), (ii) and (v) follow.
(iii) Let $\lambda ^*(u)$ be the solution of (3.1), namely
If $Q(u)<0$. Then
which implies that
If $\lambda ^*(u)\geq 1$. By (3.2), we deduce that
which is impossible. This implies that if $Q(u)<0$ then $\lambda ^*(u)<1$. Now we claim that $Q(u)<0$ when $\lambda ^*(u)<1$. Indeed, $\lambda ^*(u)<1$ leads to
Therefore,
Thus, property (iii) follows.
(iv) If $\lambda ^*(u)=1$, it follows from (3.2) that $u\in M$. On the other hand, assume $u\in M$, then
so that
If $\lambda ^*(u)>1$, using (3.3), we have
Consequently, $\lambda ^*(u)\leq 1$. Similarly, we can reach a contradiction for the case of $\lambda ^*(u)<1$. As a result, $\lambda ^*(u)=1$.
Finally, property (vii) follows easily from the definition of Schwarz's symmetrization. For (viii), given $\lambda >0$, the operator $u\mapsto \mathcal {P}(\lambda,\,u)$ is linear and strongly continuous $H^1(\mathbb {R}^2)\rightarrow H^1(\mathbb {R}^2)$. Therefore, it is also weakly continuous. The $L^{p}(\mathbb {R}^2)$ continuity is immediate. Thus (viii) follows. This ends the proof.
Lemma 3.2 The set $M$ is nonempty. If we set
then $Q(u)\leq S(u)-m$ for every $u\in H^1(\mathbb {R}^2)$ such that $Q(u)<0$.
Proof. The set $M$ is nonempty from lemma 3.1 (i). Let $u\in H^1(\mathbb {R}^2)$ such that $Q(u)<0$. By lemma 3.1 (ii) (iii), $f''(x)\leq 0$ on $(\lambda ^*(u),\, 1)$. Therefore,
which means
Applying lemma 3.1 (vi), we obtain
Noting that $\lambda ^*(u)\in M$, we have $f(\lambda ^*(u))=S(\lambda ^*(u))\geq m$, and so
which completes the proof.
Proof. Proof of theorem 1.2
We proceed in three steps.
Step 1. We claim that the minimization problem (3.4) has a solution.
Since $M\neq \emptyset$, $S$ has a minimizing sequence $\{v_n\}$. In particular, $Q(v_n)=0$ and $S(v_n)\rightarrow m$. Let $w_n=|v_n|^*$, and $u_n=\mathcal {P}(\lambda ^*(w_n),\,w_n)$. It follows from lemma 3.1 (i) that $u_n\in M$. Furthermore, it follows from lemma 3.1 (vii) that $u_n=|\mathcal {P}(\lambda ^*(w_n),\,v_n)|^*$. Therefore,
In particular, $\{u_n\}$ is a nonnegative, spherically symmetric, nonincreasing minimizing sequence of $S$. Furthermore, note that as $n\rightarrow \infty$
which implies that $\{u_n\}$ is bounded in $H^1(\mathbb {R}^2)$. Since $Q(u_n)=0$, then
Therefore, by the Gagliardo–Nirenberg inequality and the boundedness of $\{u_n\}$ in $L^2(\mathbb {R}^2)$, there exists a constant $C>0$ such that
We obtain that $|\nabla u_n|_{L^2}$ is bounded from below, and so it follows from (3.5) that
Therefore, there exist $v\in H^1(\mathbb {R}^2)$ and a subsequence, which we still denoted by $\{u_n\}$, such that $u_n\rightharpoonup v$ in $H^1(\mathbb {R}^2)$ weakly and in $L^{p}(\mathbb {R}^2)$ strongly ($v\neq 0$, by (3.6)). Therefore, we may define $\zeta =\mathcal {P}(\lambda ^*(v),\,v)=\lambda ^*(v)v(\lambda ^*(v)x)$. By lemma 3.1 (i), it follows directly that $\zeta \in M$, and hence
On the other hand, according to lemma 3.1 (viii), we know that $\mathcal {P}(\lambda ^*(v),\,u_n)\rightharpoonup \zeta$ in $H^1(\mathbb {R}^2)$ weakly and in $L^{p}(\mathbb {R}^2)$ strongly. Therefore,
Consequently, we obtain $S(\zeta )=m$. Thus, $\zeta$ is the solution of (3.4).
Step 2. We claim that every solution of (3.4) satisfies equation (1.1).
Consider any solution $u$ of (3.4). We have
Then $\langle S'(u),\,u\rangle _{H^{-1},\,H^1}=0$, where $S'$ is the gradient of the $C^1$ functional $S$, i.e.,
Notice that
It follows from $u\in M$ that
Finally, since $u$ solves (3.4), there exists a Lagrange multiplier $\lambda$ such that
Thus,
Noting that $\langle Q'(u),\,u\rangle _{H^{-1},\,H^1}<0$, we obtain $\lambda =0$. Consequently, $S'(u)=0$, which means that $u$ solves problem (1.1).
Step 3. Conclusion.
Consider
Let $u\in G$ be such that $S(u)=l$. Now we claim that $u\in M$. Indeed, since $u$ is a solution of equation (1.1), we have $V(u)=0$ and
Thus
Therefore, $u\in M$, which implies that $S(u)\geq m$. In particular
Consider now a solution $v$ of (3.4). Since $S(v)=m$ and $v\in A$ (by Step 2), it follows from (3.7) that $m\geq l$. Combining with (3.8), we obtain $m=l$. The equivalence of the two problems follows easily. The proof is complete.
Acknowledgements
The authors would like to thank the anonymous referees and the editors for value comments.
The research of Chunyu Lei is supported by Science and Technology Foundation of Guizhou Province (No. ZK[2022]199), The Natural Science Research Project of Department of Education of Guizhou Province (Grant Nos. QJJ2022015,QJJ2023012,QJJ2023061,QJJ2023062) and the High-Level Innovative Talent Project of Guizhou Province (Grant no. QKHPTRC-GCC2023027). The research of Binlin Zhang was supported by National Natural Science Foundation of China (No. 1187 1199 and No. 12171152) and Cultivation Project of Young and Innovative Talents in Universities of Shandong Province.